Process and control analyzer



April 4, 1950 v G. A. PHILBRICK 2,503,213

' PROCESS AND CONTROL ANALYZER Filed Dec. 21, 1946 4 Sheets-Sheet 1 58 8 AIR SUPPLY 96 INVENTOR.

GEORGE A. PHILBRICK 5%,MvW

ATTORNEYS.

April 4, 1950 6'. A. PHILBRICK 2,503,213

' v I PROCESS AND CONTROL ANALYZER I Filed Dec. 21, 1946 4 Sheets-Shet 2 FLOW OUT RESISTOR loo VOLTA ci CAPACITANCE PROCESS SIMULATOR PROCESS OUTPUT PROC$S./NPUT VOLTAGE l CURRENT (CONTROLLED (MAN/PULATED VAR/ABLE) I J 7 VAR/ABLE) l n l /20'AMPL/F/ER D/5TURBE/2 CURRENT-+- CONTROLLER SCREEN t l HORIZONTAL PERIODIC SWEEP CIRCUIT SOURCE CONTROLLER OUTPUT\VOLTAGE CONTROLLER SIMULATOR o y g v FIG.4.- REFER/ENC]; INVENTOR.

VOLTAGE ADJU5T0/2 GEORGE A. PHILBRICK MyQW A T TORNEY5.

April 4, 1950 G. A. PHILBRICK PROCESS AND CONTROL ANALYZER 4 Sheets-Sheet 3 Filed Dec. 21, 1946 T0 GRID 0F TUBE 270 INPUT VOLTAGE MIN/M UM T0 GRID 0F TUBE 288 FIG] INVENTOR.

GEORGE A. PHILBRICK FIGJO.

A TTORNEYS.

April 4, 1950 G. A. PHILBRICK PROCESS AND CONTROL ANALYZER I Filed Dec. 21, 1946 4 Sheets-Sheet 4 lllllll AMPLIFIER ATTORNEYS.

K MC Tull M m WH P A E G R 0 @v. B

?aten'tecl Apr. 4, 195G I ,George A. Phil brick, Cambridge, Mass, assignor to The Foxboro Company,Foxboro,Mass.

ApplicationDecembcr 21, 1946, eel-announces This invention relates to process and controller analysis and more particularly toapparatus comprising electrical analogues of various process and. controller elements capable of being interconnected to simulate different types of processes and controllers to permit the effect of .a predetermined disturbancetpattern on a process or a controller or a combination. of process and controller to be conveniently predicted and studied. Processes, simulated by the apparatus of the present inventionmay beindustrial processes wherein control is efiected by regulating a manipulated variable such as heat orthe flow of a mm, or theymay be purely mechanical processes such as, for example, aiming a gun. The controllerssimulated by the-present apparatus 'may; be the usual types of industrial process controllers for controlling temperature, pressure, flow, liquid level and the like, orthey maybe servomechanisms of the type used in ordnance fire control. The term process is usedherein to comprehend any operation that is automatically controllable by regulating some conditiongovernable by mechanical or electrical means and the term con troller covers any mechanical or electrical means forautomatically controlling Such a process.

The, analysis of a moderately complex, process, or controller, or combination of process andeonf troller, to determine the type of controller'best suited to a particular process'and the manner in which the controller should beiadjusted to achieve optimum control presents 'many difficult prob lems and numerous effors have been made to provide analyticaltechniques and tools for simplitying or otherwise facilitating solution-I of (the problems encountered. In theory th desired s Claims. (015235-41 trol and controllers. [In the case of certain more andfpe'troleum industries, frequently take along s g Y periodof time to balance: out after a predeterfmined disturbance has} been impressed upon the complicated processes, on the other. hand, the

predictability of theprerequisites for achievement of optimum control is much less. Also if a com-.

plicated process is to be effectively controlled it in general necessary to use a more complicated type of instrument havinga greater variety of adjustable componentsand thus there areinore adjustments for which" the optimum value must be determined. It, is evident that as the ber of adjustable instrument components isjine creased, the difliculty of 'determiningthe proper combination of values of the different adjustable factorsincreases veryfrapidly. Moreover, com; plicated processesi'nffor example, thechemical process and thus it often necessary to Wait. quite a while after making eachadjustment of the con? troller in order todetermine what the effect of 1 that adjustment will be on the interactions ofcthej process and controller. Hence a considerable,

overall period of time, may be required to, an rive at optimum adjustment of the controller for a complex process.

Even'where the nature of the process is such that it balances out rapidly the, empiricalap; preach is open to a number ofobjeetions. pointed out above-this approachinvolves a trial-"- and-error procedure and hence necessarily inter feres to some extent with the normal and desired information maybe] obtained by apurely em- 1 v The approach that has been perhapsamost widely used is the, purely empirical approach wherein a controlleris selected, installed and adjusted in situ by a trial-and-error method to obtain the adjustment that produces most effective control of the variable process condition to be controlled. Inv the case of some processes, this purely empirical approach is reasonably satisfactory since the nature of, the process is such. that the type ofcontroller and the manner in which the controller should be adjusted canbe predictedwithjin relatively narrow limits on the,

basis ore, genera knowledge or au oma ic c n operation of the process. In some cases materials in process may bedamaged or lost during the period when tentative control adjustments. are being; made. Furthermore an empirical approach can be used only after the processhas been placed, in operation. In some cases the controllability of a process can be materially improved by proper engineering design. One of the defects of the empirical approach is that it is incapable of providing information that can be used as a basis for design of a process that is more easily C011". trollable becauseof the fact that the approach can be used'only after the process has been placed in operation.

automatic control problems have been suggested. It will be helpful in understanding the nature of the present inventionto describe briefly one quasi-. f theoretical approach that has been found useful in obtaining information concerning the prereq uisites for achieving optimumflcontrol of. com-j. plex processes and this approach will be described} with reference toQFig]. 1 of the drawings which OFFICE J 3 illustrates diagrammatically a process with a known type of automatic controller applied thereto. The controller shown in Fig. l is generally similar to the controller described in detail in my prior Patent 2,360,889.

Most processes may be approximately resolved into a relatively small number of basic elements or factors, namely, resistance, capacity and inertia. For example, most industrial processes may be considered as made up of combinations of interconnected resistances and capacities. The degree of difilculty of an industrial process from the standpoint of automatic control is partly a function of the number of capacities and resistances that are disposed in series between the input and output of the process.

4 the level lGa of tank I6 at the point p and it is evident that this level can be maintained constant only when the inflow through pipes 26 and 30 equals the outflow through restriction 34.

The flow of water from pipe 26 into the tank l6 represents the "demand on the process, that is, itrepresents a flow which in an actual process wouldbe essentially uncontrolled and-uncontrollable but which in the present analogue is -;made adjustable to predetermined values so that the eflect on the process of predetermined changes in demand may be studied. The flow through the pipe 30.into tank [0 is the regulated fiowri. e,,;the manipulated variable of the proc- Another characteristic of a process that should a be taken into account -in automatic control is in the inherent speed ot'the process in responding to impressed disturbances of either a controlled or uncontrolled character, e. g., the time it takes for the controlled variable to come to a state of approximate balance following a change in either the manipulated variable or the demand. This inherent speed of the process is largelyindependent of the previously described degree of difilcultythat the process ofiers to automatic controlybut does place a limitation on the rapidity with which the controller may 0perate to cause the controlled variable to balance logue lends itself particularly well to mathe matical treatment and also because it provides a means whereby the interactions of the different components of the process may be more readily perceived and understood. Such a hydraulic analogue of a typical multiple-capacity processis shown in the upper portion of Fig. 1. Referring to Fig. 1 the process analogue there shown comprises a series of four tanks connectedin series through three resistances in the formof-restrictedpassages. The tank I0 is connected to tank [2 through restriction l8; tank I 2 to tank [4 through restriction and' tank "to tank l6 through restriction 22. The tanks l0, l2, l4 and I6 are filled with water to the levels Illa, 12a, 14a and [6a, respectively. A pair of three-way valves 21 and 23 are provided which may be operated to alter the manner in which the tanks are interconnected and thus permit the hydraulic analogue to simulate a variety of difierent processes. However in the following discussion it will be assumed that the tanksare connected in series as shown in Fig. 1.

Water is added to tank l6 of the hydraulic system from a pipe 26 wherein the flow of water is maintained at adesired value by a flow controller 28 and to tank In of the system through a pipe 30 wherein the flow of water is-controlled by a flow controller 32. Water flows out of the hydraulic system continuously through the restriction 34. It may ,be noted that water added to tank l0 flows successively through tanks l2, l4 and I6 and out through restriction 34 and that the rate of discharge from any tank depends upon the resistance of the restriction connected to the tank discharge and upon the amount by which the height of the water level in that tank exceeds the height of the water level in the next succeeding tank of the series. It will be assumed that it is desired to maintain ess that is used to bring the controlled variable,

-e. g.,the liquid level-46a of tank I6, back to its desired value p when a change in demand, e. g., a change in flow through pipe 26, occurs. Thus byadjusting the flow controller 28 to adjust the flow'through pipe '28 the eflect on the process of predetermined changes in demand may be studied and'by adjusting flow controller 32 to adjust the flow through pipe 30 the .efiect on the process of predetermined correctional flows may be studied.

The speed of the process is a function .01 the cross-sectional areas oftanks f8, l2, l4 and I6. For example, if the tanks l0, "l2, l4 and I6 are made very narrow 'so' that'th'ey have small capacities-the controlledvariable may be made to return to and remain at its control point within a relatively short periodof time. Such a process is a fast process and'the controller for the process is so adjusted as to bring the process toits new equilibrium rapidly. 'It, on the other hand, the tanks f0, 12, N and It have large cross-sectional areas, then with'the same change in the manipulated variable the process would come 'to an approximately balanced condition only after a much longer period .of time. Such a process is a slow process and a controller applied thereto must be so adJusted as to bring the process to balance slowly.

The operation of the hydraulic analogue of 5 Fig. '11 is as follows: Assume first that the hydraulic system is in equilibrium with the level IBa at its desired value p'and that the controller 28 is then manually set to reduce the flow from pipe126'. It'is evident that the level l6a will fall and that the level can'be returnedlto and maintainedat the point 1) only by an increase in flow of water from tank l'4 into tank l6 equal to the decrease inflow from pipe '26. .In order toincrease the how of water from tank I4 through resistance 22 into tank 16' to-the extent necessary to maintainlevel lji'a at point p with a reduced 'flow through pipe .26 it is .necessary that the water level Illa in-tank 'l'4 rise to provide the additional driving force required. But such an increase in levelin the tank I14 can be effected only by additional flow iromtank l2 to tank 14 which in turnrequires additionalfiow from tank III. Thus in order to return .thelevel I'Ga to its I original'value .p it'is necessary thatthe levels Illa,

swam

in the controlled flow which issubsequently removed. This excess correction acts 'toi increase the rateof fiow of water into the several tanks and thus reduces the timerequiredfor establishment of a neweq'uilibrium, but it is also important that'the excess correction be removed atthe proper time in order to prevent the buildinglup within the tank system of'an inordinatelylar'ge level-restoring'influence which would eventually cause the level l6a to rise above the desiredc'on 'trol point p. In other words, the nature of the th'e outputpressureof relay 60. When the baffie process is such that a carefully controlled excess correction is necessary for optimum control. b

The behavior of easy and difficult processes and slow and fast processes is described in greater detail in my Patent No. 2,360,889 and is illustrated by a .series of curves therein.

66 is against the nozzle the pressure in bel' lows '68 builds upto-move valve member to increasethe output pressure of relay 60 and when baffle 66 movesmore than a certain small distance away from the nozzle 64 the pressure with: in bellows 68ial1s to move'valve member 16 to decrease the output pressure of relay 60, The

operative" range of movement of baffle 66 requirecil 1 to produce a maximum change of relay output pressure is veryfsmall, i. e.,of the order of 0.001

inch." Forconveniencethe bafile will be charac terized as-tangent to the nozzle whenit is within this small operative range. 9 r

The output pressure of relay 6|] is conducted through pipe '31 "to the controller 32. to set "the control point thereof'and therebymaintain the fiow through pipe into tank If! at a value cor? responding, with the pre'ssure in pipe 31." The output pressure of the. relay is also conductedto the bellows assemblylit which positions the em 54 of the are lever 52,: and the arc lever 52 in l turni-positions bafil'e 66 through a connecting link 12. The link 12 is adjustable along the arc lever to vary therelative efiect On bafile 66 0f movements of the ends 50 and 54 of the are lever In the lowerportion of Fig. 1 there isdiagram matically illustrated an automatic controller that iscapable of applying correctly proportionedex cess correction'sto the process and is also capable of taking intoaccount the inherentspeedof the process in retaining the level, l6a to; andbalancie ing it out at the value p. The controlleris re sponsive, through a pipe 36-, to the level 16a in tank I6 and produces a pneumatic pressurethat is transmitted'through a pipe3'l to the-fiowcontroller- 32 to cause the controller 321to vary the flow throughpipe 30 in accordance withpredetermined functions of the behavior of thelevel I611. Pipe 36 leads to a responsive'element' 38 which positions a link 40 in accordancewith the level in the tank [6. Link lfllis connected to one end of a difierential link 42, the other endof which is connected by a link 44tonthe-control point adjusting mechanism 46 by means of which the value p at which the controller maintains the level l6a may be varied. The element 38 is shown as operating a pen arm 43 to indicate on a chart 39 the value of the level 16a. The curve l l flon chart 39 indicates an illustrative sient of the level "So.

The differential link 42 is connected bylal'ink 48 with the end 50 of an arc lever 52, the other end of the arc lever 52 being mounted in new:

able pivot 54 that is moved by a bellows; assembly generally designated as 56 and described in more recovery tram 4 52..Tne bellowsassemblyf56 operatesto main? taintlie baffle 66 tangent ito the nozz1e'64 at all times;- that is to say, Whenthe end 50 'of arc lever 52 moves in response to changes in the level in the tank l6,pressures are established in bellows assembly 56 otsuch magnitude that the I end of aro lever 5Z"i's immediately moved by the bellows assembly in a corresponding man; ner but in oppositesense to maintain the baffle tangent to the nozzle. 1

The'bellows assembly 56 comprises an upper inner" tproportioningybellows 14 that is directly connected to the relay output pressure, an upper outer (derivative) bellows "that is connectedto therelay outpressurethrough a restriction- 18" and a lower (reset) bellows 80 responsive to the relay output "pressure through restriction 18' and through a second but relatively larger restriction 82 Capacity tanks Bland 86 are provided which may be selectively" connected to or disconnected i from the bellows 16 and 80 respectively by the valves ilfl and 96 respectively. A bypass valve 92 is provided for; bypassing therestrictionlt when desired and a shutoif valve 94 isprovided r for disconnecting bellows 80 from the pneumatic system whendesired.

. To provide for manualcontrol of the water sup detail hereafter. Thus the end50 of theaiclever 52 is positioned in accordance with the position of the level Ilia in tank l6, and withpthe setting of the mechanism 46. Air to operate the controller is supplied through a pipe 58 to a pneumatic relay 66 ofthesupply and waste type and througha restriction 62to-a control couple comprising a-nozzle Mand cooperating pivoted bafile 66. 'Airflows through the restriction 62 to and through the nozzle and the new of air through the nozzle is regu lated by movement of the bafile withrespect thereto. The pressure back of nozzle 64 communicates with the interior of a bellows- 68 which operates the valve member ll] of the relay 66. Movement of bailie 66 with respect to nozzle 64 variesthe pressure back of the-nozzleandalso the pressure in bellows68 to cause the bellows to operate? valvemember 10- and thereby wary liedto the hydraulic "system through P11 3 there is connected tothe air supply pipe 58 a three-wayvalve 96 that maybe positioned to connectpipeel with the air supply through a pressure reducing valvei98 that may be ma'nu-.

ally adjusted to maintain a predetermined cone stant pressure in pipe 31.

In "response to movements of the end 50 of arc lever 52 as the level [Ba varies,the control couple G l--66; the i relay: 66 and the bellows assembly 56 cooperate to impose upon the pressure in pipe 31' threeindependent but contemporaneous, control effects. The nature of these three control effects-is such that theoutput pressure of the relay 66 (1) changes immediately, continuously and proportionally withchanges of the position of the end 50; (2) changes quantitatively inproportion to the rateat which the end 50 moves; i. e.,in proportion to the rate of change of the level Mia; and 3) '"c'hanges at arate proportional Jto'the deviation of the end '50 from its neutral position and hence proportional .to the deviation of. the. level Ilia from-the p int 1). 'rnesethree effects are commonly characterized. r spectively, as a proportioning effect, a derivative effect and a reset effect. The manner in which the control couple -66, relay 60 and bellowsassembly 56 cooperate to produce thiszresult is fully described in my Patent No. 2,360,889.

From the foregoing description it is apparent that when the controller is connected as indie cated in Figure l the output pressure of the relay 6U adjusts the flow controller 32 in accordance with a composite control effect comprising a proportioning effect, a derivative effect and a reset effect. By opening valve 92 the derivative effect may be eliminated and by closing valve 94 the reset effect may be eliminated. Thusby suitable adjustment of the valves the controller may operate as a. proportioning controller, a proportioning-plus-reset controller, a proportioning-plus-derivative controller, or a proportioning-plus-reset-plus-derivative controller.

As previously indicated a theoretical approach has been proposed in recent years which in many cases yields useful information concerning the characteristics of processes and the manner in which particular types of controllers and particular adjustments of control effects may be expected to affect the controlled variable of the process. In general this method comprises formulating the differential equations representing the operation of the process and the operation of the controller, combining the process and controller equations, inserting in the combined equation suitably selected values for the various constants of the process and controller and solving the equations to determine the behavior of the controlled variable, e. g., the level I-Ba, for a predetermined change in demand on the process, e. g., a change in flow through pipe 26. In manycases valuable information can be obtained from such apurely mathematical analysis. In other cases, however, particularly where the process is a relatively complicated one, the solving of the mathematical equations becomes extremely time consuming and in certain cases wholly impracticable. In other cases it may be desirable to study the effect of a number of different adju tments of the controller :and in ,suchcasesthe complicated process and controller equation must be solved for a. number of different values, a procedure which requires a considerable period of time. Thus both the purely empirical andpurely theoretical methods of analyzing complicated processes and controllers are in many casesexcessively time consuming and there is a need for a more effective method of analyzing .these problems. Such a method should be thoroughly flexible so that it can represent a wide variety of different systems. For example it should be capable of representingprocessesof different degrees of difficulty and instruments of different degrees of complexity and should'permit desired adjustment of the primary processand controller characteristics. It should also be capable ,of representing the behavior of the system in some perceptible form, and the time required to manipulate the adjustments of the whole unit to cause it to simulate a given system as well as the time elapsing before the-results become perceptible, should be quite small. Moreover, the accuracy of the method and apparatusshouldhe within the limits of observation, and the inherent consistency of operation of the apparatus .should be unimpeachable.

Accordingly itis an object of the present inventlon' torrovid an .paratus for analyzing aprocess or a controller or a combination of process and controller. It is another Object of the invention to provide appa a us. of'thi har c r h i sufl c nt f xible to permit simulation of a wide variety of processes and controllers. It is a further object of the invention to provide a process and controller analyzer wherein the values of the differentcon ponents of the process and controller maybe c n n en y d apid y a j e It i Sti another object. of the invention to provide a procms and controller simulator having very rapid reactions, that is, reactions sufficiently rapid so that when a rapidly recurrin disturbance is impressed on the simulator the resulting indi! vidual recovery transients may be successively portrayed on a screen at such a speed that they cannot be separately distinguished by the eye and the separate transients merge into what appears to be a single transient. It is still another ob-. ject of the invention to provide a process and controller simulator that responds in a consistent manner to disturbances of a predetermined pat.- tern and rapidly and accurately portrays the effect of such disturbances upon the process and/or controller. It is a still further object of the invention to provide an improved method of dee termining what type. of controller and what controller adjustments should be used to achieve optimum control of a given process. Other ob.- jects of the invention will be in part obvious and in part pointed out hereinafter.

I have found. that the foregoing and other ob.- jects. may be achieved in. general by utilizing a process and controller analyzer comprising a plurality of electrical analogues of process and controller elements so arranged that they may be electrically interconnected to simulate a particular desired process and controller. The process simulator and/or controller simulator is connected to indicating means responsive to the value of a controllable variable of the process and an electrical disturbance of predetermined pattern is impressed upon the process or controller or .a combination of process and con? troller in suchmanner that the indicating means is caused to depict the effect of the impressed disturbance. The many objects and advantages .of the present method and apparatus may be best appreciated by reference tothe accompany.- ing drawings which illustrate a preferred embodiment ofthe apparatus of the invention and wherein- Figure 1,-as previously described, is a. diagrammatic representation of a process with a controller applied thereto gure 2 is a diagram indicating the equivalence of hydraulic capacity and :electrical capacity;

Figure 3 is .a diagram illustrating the equivalence of mechanical resistance :and electrical resistance;

Figure 4 is ;a .block diagram of a process and controller analyzer comprising the approximate electrical equivalent of the process and con- .troller of Figure 1;

i ure 5 depicts therecovery transient of the controlled variable of the process as it appears the oscilloscope screen of the present apparatus when a-particular electrical disturbance .is impressed upon thecontrolled process;

Figure :6 depicts a recovery transient that is obtained under somewhat different conditions than those h .98.6 9f $159 15;

of the process.

simulator and controller simulatonmeans are i Figure is a modification of aportion ofthe electrical circuit of Figure 8, which modification permits simulation of the step adjustment of the derivative and reset effects as disclosed in my prior Patent 2,360,889. v

It' has been previously pointed out that the essential elements of a typical process are capacity and resistance. As indicated in Figs. 2 and 3, the'electrical capacity 91 is equivalent to hydraulic capacity 99 whichis similar to the her the electrical resistor I00 is equivalent to' the restriction I02 which is in turnsi milar to I the hydraulic restrictions. I8, 20, 22, and 34 3f v Fig. 1. Thus by substitution of electrical analogues for the process elements of the hydraulic process shown in Fig. 1 an electrical process may be obtained which is fully analogousto the hydraulic process, but may be made to' respond much more rapidly to impressed disturbances. In a similar manner, the controller of Fig, 1 may be simulated by an electrical circuit, although in this case it is desirable that an electronic circuit be used in order that the various functions i to produce a square wave. By synchronizingth' maybe depicted on' the oscilloscope screen justas of the different parts of the controller maybe ac- V curately simulated.

Fig. 4 represents in a general way the .princi} pal elements of an electrical processand controller analyzer. Referring to Fig. 4, the analyzer there shown comprises a process simulator and a controller simulator, the output of the "45. u 'sient is necessary fo'rstudy' of the process and process simulator being connected to the input of the controller simulator and the-output or the controller simulator being connected with :the input of the process simulatornto form a closed loop. The controlled process "simulator lMhas an output voltage-which represents the process variable that is to be controlled and is analogous to the level "5a in tank l6 of Fig; '1. This controlled variable voltage is applied to the input or controller orboth of application of this prede termined disturbance. A periodic source of e A thefoscilloscope H8. Connected to the some exa"mple, a voltage that is p'eriodically shiftedf};

voltage becomes thecontrol point voltageof th'e' simulator whereas in cases wherejthesimulated controller is,for example, a 'proportioning'jcon troller F and has -no control l point;- the referenc voltage-becomes'the center of the proportioning band of the simulated controller.'-* Changes m ne controlledfvoltagel deviation are analogous toil movements of end ofarc lever'52 inresponse' to changes in the level-[6a of tank IE,

In order to study the interactionof the process provided for impressing an electrical disturbance of'predetermined character on the. process and!" controller loop and means are also provided fo rendering perceptiblethe efi'ect upon the proces er'gy HA'is connectedto an oscilloscope ll8 an d more particularly the circuit H6 which regulates the horizontal componentof the sweep oithe oscilloscope. The voltage at a particular pointin th process and'controller loop is amplified inan amplifier I20 and applied tothe circuit which i regulates. the .vertical component of the sweep of 111 i periodic source I [4 there isa'n electricaldistu'rb I 22 adaptedto apply to a predetermined point th process and controller loop a recurring elec trical' disturbance" offfpredetermined pattern; for

back and'forth betweentwopredetermined values period of recurrence of the disturbance pattern produced by the disturber "I22 and the horizontal 1 transient I23 ofthe controlled variablevoltagexg in Fig. lthe'rec'ove'ry transient 4| is depicted oni. chart39; I T P f Referring to Fig. 5 of thedrawings, in Masai where-the disturbance pattern is of the character.

' indicated, i. e, where the disturbing voltage alter nates between two different'values' a double traii- -ii .sientl will appear on the oscilloscope screenl-i Sincetypically only one-half of'the double tran controller it is ilsually desirable that one-half'of the double transient be suppressed and thiscan be done by appropriatelyadjusting the sweep cir-k" cuit of i the oscilloscope, e. g; increasing the am-ui plitude *of the horizontalsweepof the oscilloscope in'such manner that the portion of the transient i end of a controller simulator [06.7 The-output ofv the controller simulator is a voltage'that is transmitted to an electronic current controller screen.

I08 which supplies-to the input end of" the proc-;;

ess simulator I04 a controlled current that is proportional to the output voltage'of the con-5 troller simulator I06. The current controller )8 is analogous tothe flow controller 32; of Fig. l, the output voltage of the controller simulator: M36 is analogous to the pressure in pipe 31, and i between the dotted vertical lines in Fig. 5 iSj:

stretched out and; as shown in: Fig. 6, a singlet.

recovery transient is depicted on the oscilloscope lln orderthat the nature of the present inven-li tionmay bemore fully understood the details or. i the. electrical connectionsof an illustrativeproc ess andcontroller analyzer embodying the pres-, ent' inventiton will nowbedescribed with par-a.

ticularreference to. Fig. 8 of. the drawings wherein;

the current supplied tothe process simulatoriflt 3 by the current controller-m8 isanalogous to the flow of water through pipe 30.; v 1 I Connected to the controller simulator I 06 there is a reference voltage adjustor III] that is analogous to the'controlpoint. adjusting mechanisms I 45 of Fig. 1. Thexreferencevoltage adjustor H0} operates effectively to subtractfrom the con-,1

trolled variablevoltage a predetermined but-adjustable reference voltageto produc ajcontrolled voltage deviation. In-cases'where the COIltIOIlBly; being simulatedis a reset-controller,thisiteferencet resistors.

the process and controller of Fig. 1 is shown, in phantom? View and analogous electrical .elee

ments of. the present analyzer are eithersuperposed on or located close to corresponding olementsioftheapparatusof Fig. 1. Referring to Fig; 8 there is shown a-process simulator comprise ing a plurality of interconnected capacitors and: The process simulator comprises thevariable capacitors-126,128,J30and I32 which asindicatedint Fig. 8-, correspond to the tanks 10,)

I2. I4 and. I6. respectively of Fig. 1. The capacig,

torsare made variable sothatthey can be adi- 7s; iusted o match ithemapacities of a ac ua 9. m

atomic hypothetical process, that it, is desiredxto' study. One, side of. each capacitor is grounded andthe other sideis eflectively connectedthrough resistancezto another capacitor. Thus the capacitor I26 is connected to the. capacitor I28 through a resistor I34; capacitor I28 is connectedrtothecapacitor I30 through a resistor I36 and the capacitor I30 is connected to the capacitor I32 through a resistor I38. As'indicated in Fig. 8 the electrical resistors I34, I36 and I38 aremade-variable so that they may bematched to the resistances of an actual process and they correspond to the restrictions I8, 20 and 22 respectively of the hydraulic process analogue. A further variable resistor I40, analogous to the resistor 34 of Fig. 1, is I connected between the capacitor I32 and ound.

The electrical analogues of. the three-way valves 2I and 23 of Fig. 1 are, in Fig. 8, the switches I42 and I44 which permit the interconnectlons between the capacitors and resistors to be varied to represent various systems.

The manipulated variable in the electrical analogue is a controlled electrical current supplied to the process simulator and more particularly to the capacitor I28 through a conductor I46 froman electronic tube I48'which may be a conventional pentode tube and which operates as a current controller in a manner describedin detail hereafter. The output of the process simulator is a controlled variable voltage which is anal.- ogous, to the level I8a in tank I6 of Fig. 1 and which forms the input of; the controller-simulator presently to be described.

In Fig. ,1 a disturbance of. predetermined character is impressed. on the hydraulic process by causing a stream of. water controlled by the flow controller. to flow through pipe 2.6-into tank I6.

In Fig. 8 an electrical disturbance of predetermined character is impressed. on. the electrical process .simulator in a somewhat similar manner. The capacitor 1.321sconnected into the plate circult of a tube I50- through conductor I.5I, battery I52, and .conductor I53 and the tube \operates to .supply a controlled and predeterminablecurrent to the process simulator.

The characteristic of the current supplied to the process simulator by the tube I50 is determined by a disturber I54 connected tothe control grid I55 of the tube. The disturber-Ifl may. be constructed insuch manner as to applyany of various disturbance patterns to theprocess. For

example. it may comprise a simple circuit such as that shown in Fig. 9 which operates to apply-a substantially square wave disturbance to the process. Referring to Fig. 9, the disturber I54 may comprise a vibrator I56 including an electromagnet I51 and an armature I58 having'a coil I58 connected to a source of alternating current I 80, all arranged as shown to cause the armature I50 to vibrate in synchronism with the frequency of the alternating current supply I60.

The armature I58 is mechanically connected to a pivoted arm I6I having mounted thereon a contact I62 which cooperates with a. fixed contact I63 to alternately make and break the disturber circuit I64. Energy for the disturber circuit is supplied from a pair of batteries I65 and I66 connected in series to a potentiometer I61. A second potentiometer I68 is connected by a conductor I68 to a point between batteries I65 and I66 and by a conductor I10 to the adjustable contact "I of potentiometer I61. Movable contact I62 is connected to conductor I10 by a conductor I12, and fixed contact I63 isconnected 12 to theadjustable contact I13 of potentiometer I68. The conductor I69 is grounded through conductor I14 and the adjustable contact I13 is connected by conductor I15 to the control grid I55 of the tube I50.

may be varied by adjusting contact I1I of potentiometer I61.

Referring again to Fig. 8, the tube I50, like most of the other tubes shown in- Fig. 8, is connected as a cathode-follower, i. e., a resistor is connected to the cathode, usually between cathode and ground, which resistor is common to the grid-cathode and cathode-anode circuits so that there is established through the resistor a current of such magnitude that the cathode voltage always follows the grid voltage, both such voltages being described with respect to ground. Moreover the cathode voltage is always linearly related to the grid voltage and may be substantially equal to the grid voltage. Thus the cathode I16 of tube I50 is connected to ground through, a resistor I11 and the cathode voltage is approximately equal to the voltage on control grid I55. Since the plate current is proportional to the cathode voltage, it is also linearly related to the grid voltage. Hence the current supplied to the capacitor I32 is so regulated that the desired square wave disturbance is impressed as a current on the-process simulator.

The output of the process simulator is a controlled voltage analogous to the level I6a of tank I6. This controlled voltage is transmitted by means of a conductor I18, from one side of the capacitor I32 to the input of the controller simulator and more particularly to the control grid I19 of a tube I which, like the tubes I48 and I50, may be of a conventional pentode type. The tube I 80, like the tube I50, is connected as a cathode-follower having a cathode resistance I8I through which the cathode I82 is connected to ground. The cathode circuit is specially energized by a battery I83 which connects it through a resistor I84 to the plate circuit of the tube. The plate circuit includes a battery I85, the positive terminal of which is connected to the plate I88 by a conductor I86 and the negative terminal'of which is connected to ground through a conductor I80, resistor I92 (which has the same resistance as resistor I8I) and conductor I94. Effectively connected in series to the terminals of battery I are a resistor I96 and the resistor of a potentiometer I98 having an adjustable contact 200 which is connected to the conductor 202. The potentiometer I98 is a reieii'ence voltage adjustor, like the ad'justor III] of F g. 4.

The tube I80 and its associated circuit operates in a manner analogous to the operation of sensitive element 38 and control point setting device 46 of Fig. l. The contactor 200 is so adjusted that the voltage drop between the contactor and the conductor I has a value equal to the desired reference voltage. This reference voltage is eii'ectively subtracted from thecontrolled variable 13 Voltage, as described below,- to give a controlled voltage deviation which, in the case of reset controllers, represents the departure of the controlled variable point. As previously stated tube I80 is connected as a cathode-follower and thus a current is estaba lished in the cathode-anode circuit of the tube such that the cathode voltage is substantially equal or linearly relatedto the voltage oncon-' trol grid I'I9. From this it follows that the volt-- age across the resistor I8I ;is equal to or linearly related to "the controlled variable voltage impressed on control grid I19. Resistors IBIand I92 have substantially equal currents since all other paths to ground from the circuit of tubl80 are relatively of much higher resistance. Thus since resistors I8I and I92 have equ'alresistances and equal currents, the voltage dropacross resistor I92will be equal and opposite to the voltage drop arcossthe resistor I8I. Thisvoltage drop across resistor I92 is algebraically added to the drop through that portion of resistor I98 that is between contactor 200 and conductor I90, and hence the voltage with respect to ground that is established'at the contactor 200 represents the difference between the controlled variable voltage and the reference voltage. This net voltage v is referred to herein as the controlled voltage deviation.

As described in connection with Fig. 4 of the drawings, the effect of a predetermined disturbance is rendered perceptable by applying to the vertical sweep circuit of oscilloscope II8 the voltage at a desired point in the processand controller loop. In Fig. 8 the cathode I82 of tube I80 is connected by a conductor 20I to the amplie fier I20 which is in turn connected to the vertical sweep circuit of oscilloscope I I8.. In this way the controlled variable voltage of the process simulator is effectively applied to the oscilloscope to depict the recovery transient of the controlled. process when it is disturbed.

The controlled voltage deviation is transmitted through conductor 202 to one end of a potenvoltage from the desired control 206 to'produce a-"relatively small change. in the voltage at the right end of potentiometer 204. For intermediate positions of contactor 208, volt. ages at the right end ofpotentiometer 204 of in termediate values will be produced by the given change in the controlled voltage deviation.

Thetube 2I2 is connectedwith a tube 2I4 in such manner as to simulate the operation of the I bafile-nozzlecouple 64-66 and pneumatic relay tiometer 204 having an adjustable contact.208.. The other end of potentiometer 204 is connected to an electrical follow-up circuit generally designated as 206 and described in detail hereafter. The follow-up circuit. 200operates to establish at the right-hand end of potentiometer 204 (as shown in Fig. 8) a voltage that is so related to the,

controlled voltage deviation applied to the lefthand end of potentiometer 204 as totend to cause the voltage at contactor 208 to be at ground po-.- tential. Thus the follow-uprcircuit 200 isanalo-,

gone to the bellowsassembly 56 of Fig. 1 and the resistorv of potentiometer 204. is theelectrical equivalent of the arc lever 52 of Fig; 1. M

The voltage of adjustable contact 208 oflpowhich represents a plot of input voltage, i. e., the i. 60

tentiometer 204 is permitted to actuate the control grid 2 I 0 of a pentode tube 2I2. tactor 208 is made adjustable so that the proper-j ,tioning band? of the controller simulator may be adjusted. If theflcontactor 208 is moved to the left end of potentiometer 204, a given change inthe controlled voltage deviation will cause the follow-up circuit 206 to.produce a large change in voltage at the right end of potentiometer204 to maintain the grid-actuating voltage of contactor The con 200 at ground potentiah If, on the other hand;

contactor 208 is moved tothe right end-of potentiometer 204, the 1 same change incontrolled voltage deviation will cause the followeup circuit 5 Tube2l4, line tubes I50 and I80,-,is

tiometer '204, but greatly amplified.

Referringback to the pneumatically operated controller of Fig. 1, ithas been pointed out that" the pneumatic relay 60 is supplied with air der pressure through pipe 58. The input pres-i sure to the relay 60 usually has a definite pre determined value and hence the output pressure; of the, relay may vary only within fixed-limits, 1-

i. e., atmospheric pressure and say 15 pounds per square inch above atmospheric pressure. These limits are, in efiect, the limits of the pr p r i ing band of the instrument. In order to produce a corresponding electrical analogue ofthese limits, the conductor 228 isconnected to a cir-v .cuit comprising rectifiers 232 and 234 and IGSiS-w tors 236]and 238. .The rectifier 234 is interposed. betweenconductor .228 andground. This circuit is energized from battery 2I8 through conductors 240 and 242 in such manner that current flows from conductor 242 through resistors 238 and 236 in series to ground. The rectifier 232 is inter--:

posed between conductor 228 and the intercom-5 nectionof resistors 236 and 238. Thus one side of rectifier 234 is maintained at ground potential and one side of rectifier 232 is maintained at.

predetermined potential above ground. p

The rectifiers 232 and 234 operate tomaintain the voltage in conductor228 and hence the volt age on control grid 230 between predetermined limits. If this voltage starts'to riseabove .a pre-. determined maximum value equal to the voltage, drop across resistor 236, current flows through; rectifier 232 to ground to maintain the grid voltage no higher than "this maximum value. If, our the otherhand; the grid voltage drops belowa predetermined minimum value, current flows .through' rectifier 234 from ground to prevent the grid voltage from dropping below the desired minimum value; The characteristic thus obtaincd is illustrated in Fig. 7 of the, drawings voltagein conductor 202 against output voltage,

- i.-e., the voltage on control grid 230. The operation of; the rectifiers 232 and 234 is such that the output voltage cannot exceed or vfall below. defi-,

nite upper and lower limits. Within thesefllimitsr the output voltage ismaintained proportional to the input voltage by the action of follow-up circuit 206 as previously described, and the proportionality between input: and output voltage may be varied by adjustment of contact 208 of potentiometer 204. ;The resistor 226 operates to limit fectively to maintain the grid voltage between the desired predeterminedlimits.

connected use cathodeefolldwer itsccathodecvoltage is equal to. orrlinearlymelatedzto; the voltage on grid 280; i. e.-,. the: voltagecacross resistor. 23 l. cathode voltage of tube-21 4"; constitutes the eiiectlve. outputtof theztube;

The output voltage ofatube 2 i4xlikexthe output pressure: of relay: valve 6.0::performs several dif- This ferentiifunctions; 'Ihusatheoutput of tube -2I4 isirapplled through conductors-244. and 246, a switcheluiiand conductor 250 to'the control grid 2i2i'ofiltube I48; The tube I48'lSf connected as a cathodei follower and: operates like tube' 150 as-a current controller; The plate circuit of tube |48includes1azbattery 254; the negative terminal ofi whichisconnected by the conductor I86 to oneuside otcapacitorfil26q The'tube operates-"to oause'acurrent -flow in conductor 146 that is proportional totheuvoltageimpressed .on control grid 252-iandithis current is themanipulated variable "of the process. simulator.

4 Under certain .circumstances it; is desirable to place the process simulator under manual control and for this purpose conductor 250 may be connected, by-adjustment of switch 248; to a manualcontrol circuitcomprising a fixed resistor O -connectedthrough-conductors 242 and 240' to'thebattery 2l8 and apotentiometer 258 having an adjustable contact'260 which may be connectedt'o'tlie' conductor 250- through switch 248.

One end ofpotentiom'eter 258 is grounded so that by manual ad'justment of the adjustable contact 260 thevoltage impressed upon control grid 252 may be varied to cause the tube I48 to supply a desired current to the process.-

When=switch-2'48'=is so adjusted as to interconnect conductors-246 and 250 the process and controller simulator is onautomatic control and thesimulator-maybeadjusted to simulate various types f automatic-controllers adjusted in various ways; Referringto the lower right-hand portion of-Fig; 8 there is shown an=electrical analogue of the 'bellows assembly 56 0f Fig. 1. Conductor 2'44 isconnected by aconductor 262 to one end of a potentiometer 264 which is provided with an adjustable contact 266'- connected by a conductor 261 'to' the-control grid 268 of a tube 210.

The other 'end- =of 'potentiometer 264 is connected 2141s impressed directly on thecontrol grid 268- of tube-2-10 and hence the operation is similar to that which would result if the inner bellows 14"" were'made substantially as large as outer bellows-16 m thatthe entire upper bellows area is' directly and immediately responsive to the relay output pressure. If, on the other hand, the contact" 266' ismoved to the right-hand end of po entiometer 264; changes in voltage on grid 288caus'ed by changes in'output'of tube 2I4 must pass through th'e resistor of potentiometer 264 and th'6"1ESiStOI'-' 216 and" hence the effect is analogousto that of'reducing the diameter of inner bellows 14 to zero so that'the' force available for moving and 64 of lever 52 can-be varied'only by; flow or air through restriction I t to -the belelowsm'lli'. By suitable :adiustment of. contact/286 to-an intermediate point on potentiometer 264+ diiierent relative 'bellowsareas' may be simulated. The voltage on the control grid 268 is a composite of the voltage applied through conductor262 and the voltage applied.- through that portion of the circuit comprising resistor 216 and capacitor 212; just as the force exerted onthe end 54 of" lever 52 is a compositeresult of. theforces exerted. by the inner and outer. bellows and-I6; Thusthe electrical circuit shown in Fig. 8 permits simulation of the derivative efiect of a derivative controller with or without the .inner bellows I4. The. derivative effect may, be removed by closing: a shunt 280 aroundresistor 2.16 in the same manner. thatvalve 92 of Fig. 1 .maybe opened to bypass the restriction .18.

In order to supplement-the. capacity of. the. capacitor 212' there is connected to conductor 214 by a conductor 282 a second capacitor 284 which, is grounded and can be selectively connected to the conductor by a switch 288. The capacitor 284 is analogous. to the capacity tank. 84 of Fig. l and the switch286 analogousto the. valve 88 of Fig. 1.

To-provide for simulation of 'the reset effect produced by bellows 80.0f Fig. 1.the output of tube 2 I4 is conducted to a second'circuit comprismg a tube 288 and a capacitor 290. The output of tube 214 is conducted through conductors 244 and 2TB; through either'resistor. 218. or shunt switch280 and through switch 308'; which is closed to produce thereset effect; to'a'iconductor 292; thence through avariable resistor 294i and conductor 296 to-capacitor290, the other side. of which is grounded. Conductor 280 is also COD? nected by a conductor'298' with thecontrol grid. 3000f tube 280. The variable resistor 294' and capacitor 290 are analogous to the restriction. 82* and-bellowslof. Fig. 1, and operateln an analogous manner to causea voltage to.be impressedupon control grid 300. that. is the same as the voltage of capacitor 290 andcorresponds with; the pressure in reset bellows. 80.

An auxiliarycapacitor 302 is connected by a. conductor 304 through'a switch 308.to conductor.

296 and capacitor 290; The auxiliary capacitor 302 isanalogous to. capacity. tank 86 of Fig. 'l and switch 306 is analogous to the valve 90 of. Fig. 1. By means ofthe auxiliary capacitor 302' the capacity of the. reset portionof the circuit may be' varied to change" its time constant and,

so'the reset rate.

In order to prevent-shifting .of. the neutralv position of .the. recovery transientasit appears.

on the screen of oscilloscope ll8,.the.switch 308 in conductor .2921is providedwith .a high resistance shunt .3l0. The switch 308 is openedwhen it is desired to eliminate the reset effect, and when this switch is opened, the resistance 310 causes the charge on capacitors 290' and. 302 to leak ofl relatively slowly. and thereby prevents a noticeable shift in, position. of the recovery transient 'as it appears on the oscilloscope screen.

The tubes'288 and 210' are so interconnected that their outputs are subtracted from one another'and the net output applied to the righthand end ofpotentiometer 204- in the same way that thepressure di'flerencebetween bellows 14- 16 and bellows-80positionsthe right end of-lever 52; This result is accomplished as follows? Thetube-210" is connected' as a cathode follower and operates in such mannerthat the voltage of its icatl'iode 312; i; e-. the voltage across cathode re"- 280 is also connected to itsplate through battery SIS, resistor 320 and battery 32]. The righthand end of potentiometer 204 is connected to the plate of tube 288 through battery 32! and also to ground through a resistor 322. Since thecathodes] M2 and 314 are interconnected through resistor 3l8, the difference in potentia1 between the two cathodes is the voltagedrop across resistor3I8, and hence the current flow through resistor (H8 is proportional to the voltage differ-.- ence between the two cathodes. This current flow through resistor 3l8 is substantially equal to the current flow through resistor 322 (potentiometer 204 has a relatively high resistance and hence current flow therethrough may be neglected).

Resistors 3 I 8 and 322 are made of equal resistance and since the currents flowing through the two resistors are equal the voltage drops across the tworesistors are equal, Therefore the potential ofjthe right-hand end of potentiometer 204 above ground is equal to theyoltage drop across'resistor 3|8 which isin turnequal to the voltage difference between the two cathodes ,3l2 and 3M. Thus the tubes 210 and 288 with theirase sociated elements and electrical connections. ope er'ate to impress a voltage on therightehand end of potentiometer 204 which is a function of the algebraic sum of the; proportioning, reset and derivative effects and hence they operate in a manner analogous to bellows assembly 56 of Fig. 1. a a H The operation of the simulator of Fig. 8 is voltage, 1. e. which adjustments bring the output perceptible.

largely apparent from the foregoing description.

The switches I42 and I44 of the process simulator are adjusted to so interconnect the capacitors and resistors as to simulate a specific type of system as desired. The. capacitors I126, 128,130 and I32 and the resistors 134,136,138 and I are then adjusted to provide the. proper amount of capacity and resistance to simulate as closely as possible a process that is to be controlled. The disturber I54- is adjusted to impress thedesired disturbance pattern on the process and the resulting behavior of the controlled variable voltage at the output end of the process simulator is continuously depictedon the screen of oscilloscope H8. 6

'.The variable elements of the controller simulator may then be adjusted to observe the effect of the different adjustments upon the behavior of the controlled variable voltage. For example, the proportioning band of the controller simuvoltage of the process back to its control point rapidly and without'undue cycling across the control'point. The electrical valuesof the variable elements ofthe controller simulator bear a predeterminedrelationship to the values of corresponding elements of the pneumatic controller of-Fig. l, and hence when the controller simulator has been adjusted to produce an optimum r'e' covery transient of the controlled variable voltage, the corresponding values for the pneumatic controller may be easily determined. a:

It is apparent that the simulator of the present invention may be used in anunusually efiective manner to determine the adjustments of a pneumatic controller which will produce optimum control ofa particular process. The resp0nse 0f theelectricalprocess to an impressed disturbanceis for all practical purposes instantaneous and hence there is no visually perceptible delay .between the time when a given adjustment ismade an'dgthe time when the effect of such an adjustment is depicted on the oscilloscope screens: As

pointed out above, this condition .does nottiordinarily obtain. when a pneumatic controller is applied to a multiple capacityindustrial process.

Iran-attempt is made to adjust the pneumatic controller directly, a considerable period of time may elapse between the timewhen a variable component of the controller is adjusted andnthe "time when the effect of theadjustment becomes This delay becomes extremely troublesome where the process is both slowwand complicated. By using the present simulator the prerequisites for optimum control maynibe determined, inmost cases, in a matter of a few minutes as compared with previous methods wherein hours or even days were required :to.;,ar-

rive at optimum adjustments of the controller:

MO1'.e0VeI the reactions of the simulator are sufficiently rapid to permit them. tobe effecr tively represented on an oscilloscope ,screen; When a rapidly'recurring disturbance is. im-.

pressed on the process and controller loop; the

resulting process recovery transients may be depicted on the oscilloscope screen at such a speed lator may be varied by moving contact 208 along potentiometer 204; the derivative efiect may be varied by adjusting resistor 216, and contact 266 of potentiometer 264; and the reset effect may be Varied by adjusting resistor 294. By adjusting these variable elements of the controller simulator and observing the .efiect of the adjust that the successive transients appear to be a single transient. 1 As the analogues of the various controller components are adjusted the shape of the transient represented on the screen changes and the effect of each adjustment becomes imme l diately perceptible. The present simulator may also be used in den termining the propertype of controller and proper type of controller adjustments to be used incon-f trolling a process having unknownv character-; istics. The method of using the simulator to achieve this result comprises, as a first step, applying a known disturbance to the manipulated variable of an uncontrolled process having unknown characteristics and recordingthe effectof the known disturbance on the process variable that is to be controlled. The curve representing the behavior of the controlled variable, ofthe unknown process when disturbed in a predetermined manner is then taken to thepointpat which the simulator is located. The. equivalent disturbance is applied to the electrical processof the simulator and the resistances and capacities of the process simulator (without controllingsthe process) are adjusted; to produce on the oscilloscope screen a curve that matches the curve.

produced by the unknown process. It has been found as a result of numerous tests that when the? empirically determined curve matches the curve. produced on the oscilloscope screen the co'ntrollability characteristics of the electrical process are, within close limits, the same as the controllability characteristics of the unknown process. The variable components of the controller simulator may then be adjusted to produce an optimum recovery of the process variable and the adjustments of the controller simulator which produce this optimum recovery of the process variable noted. The automatic controller on the unknown process is then adjusted in a manner that corresponds with the settings of the controller simulator and optimum control of the uiknown process is thereby achieved.

. It will be apparent to those skilled in the art that the simulator of Fig. 8 may, by relatively minor modifications, be caused to simulate a wide variety of control effects. In order to illustrate the manner in which the simulator of Fig, 8 may be modified there is shown in Fig. 10 of the drawings a circuit that may be substituted for the derivative and reset portions of the simulator Fig. 8 to cause the simulator to simulate the stepwise adjustment of derivative and reset effect that is disclosed in my prior Patent No. 2,360,889. As pointed out in my patent, the number of independent adjustments of a pneumatic controller may be reduced by establishing a predetermined relationship between the reset and derivative amustments of the controller as disclosed in my patent and coadjusting these two effects in a step-wise fashion. This stepwise adjustment of derivative and reset effect may be simulated by using the circuit shown in Fig. 10.

Referring to Fig. 10 a plurality of capacitors 320, 322, 324, 326 and 328 are individually connected in series with resistors 330, 332, 334, 336 and 338, respectively and the individual capacitors and their associated resistors are connected in parallel with one another, as shown in Fig. 10, with resistor 340 interposed between the resistors 33!! and 332; resistor 342 between the resistors 332 and 334; resistor 344 between the resistors 334 and 336; and resistor 346 between the resistors 336 and 338. A resistor 348 is connected at one end to a point between resistors 338 and 346 and at its other end through a conductor 350 with the capacitor 352. One side of each of the capacitors 326, 322, 324, 326, 328 and'352 is connected to ground. The other sides of capacitors 322, 324, 326 and 328 are connected respectively to switches 354, 356, 358 and 360, respectively which are interconnected by a conductor 362. A variable resistor 364 and a potentiometer 366 having an adjustable contact 368 are connected at one end to the conductor 362 and at their other ends to each other.

The circuit of Fig, 10 is provided with three leads (connections A, B and C) by means of which it may be connected to the controller simulator circuit of Fig. 8. These leads are a conductor 313 (connection A) connected to a point between the resistor 364 and potentiometer 366, a conductor 312 (connection B) connected to the adjustable contact 368, and a conductor 314 (connection C) connected to conductor 350 at a point intermediate the resistor 348 and the capacitor 352.

Referring again to Fig. 8, when it is desired to simulate the step adjustment of derivative and reset effect disclosed in my prior patent, the variable reset and derivative analogues of the controller simulator are removed from the circuit by breaking conductor 218 at point A; conductor 261 at point B; and conductor 238 at point C.-

20 The: circuit of Fig. 10 is then connected in such manner that conductor 310 is connected to the cathode of tube 2 I4; conductor 312 to the control grid of tube 210; and conductor 314 to the control grid of tube 268. The desired simulation of the stepwise adjustment of derivative and reset eifect may be achieved by successively closing the switches 354, 356, 358 and 366. As successive switches are closed, the magnitudes of the derivative and reset effects are varied in predetermined steps. Thus by adjustment of the switches 354--360, the efiect of such a stepwise adjustment of derivative and reset upon the behavior of the controlled variable for various difierent types of processes may be depicted on the screen of the oscilloscope and effectively analyzed and studied.

It is apparent that the simulator circuit of Fig. 8 may be modified in many ways other than that indicated in Fig. 10. Thus, for example, the predetermined disturbance need not necessarily be applied to the capacitor I32 but may be applied to any point in the process and controller loop and it may have a pattern other than the square wave pattern illustratively disclosed. Similarly, the variable depicted on the oscilloscop screen need not be the voltage at capacitor I32 of the process simulator but may be any other voltage or current in the process and controller loop. For example, the controlled variable voltage represented on the oscilloscope screen may be the voltage at the capacitor I23 or the capacitor i3ll and the controller simulator may be made responsive to these voltages. As indicated above th process to be simulated may be a mechanical process instead of a hydraulic or thermal process. If inertia is present in the process it may ordinarily be simulated by a suitable electrical capacitance. The process simulated may be a dead end system or a branched" system such as results when the switches I42 and I44 of Fig. 8 are shifted to connect capacitors I26 and I32 through resistor I36. Other modifications within the scope of the in- :gition will be apparent to those skilled in the I claim:

1. A process and controller analyzer comprising, in combination, a process simulator including a plurality of electrical analogues of process elements, a controller simulator including a plurality of electrical analogues of controller elements, said process simulator and controller simulator being interconnected to form a closed loop and said controller simulator including first electronic current controlling means for supplying a controlled current to said process simulator, second electronic current controllin means for supplying a controlled current to said loop, disturbing means for governing said second current controlling means to cause said controlling means to supply to said loop an electrical current having a predetermined disturbance pattern, and electrical indicating means responsive to the voltage at a predetermined point in said loop for indicating the effect of said disturbance on a predetermined portion of said loop.

2. A process and controller analyzer comprising, in combination, a process simulator including a plurality of interconnected electrical capacities and resistances and having an input current and an output comprising a controlled variable voltage, a controller simulator connected to the input and output of said process simulator to form a closed loop, said controller simulator including first electronic means responsive to 2i i said controlled variable voltagefor establishing a controlled voltage deviation and second electronic means responsive to said controlled voltage deviation for regulating said input current to cause said current to assume a value in predetermined relationship with said controlled able voltage, a controller simulator connected to the input and output of said process simulator to form a closed loop, said controller simulator including first electronic means responsive to said controlled variable voltage for establishing a controlled voltage deviation, second electronic means responsive to said controlled voltage deviation for establishing an amplified voltage proportional to said voltage deviation and third electronic means responsive to said amplified voltage for maintaining said input current proportional to said voltag deviation, disturbing means connected to said loop and adapted to impress on said loop an electrical disturbance having a predetermined pattern, and electrical indicating means connected to said loop to indicate visually the effect of said disturbance upon a predetermined portion of said loop. 1

4. A process and controller analyzer comprising, in combination, a process simulator including a plurality of interconnected electrical capacitors and resistors and having an input current and an output comprising a'controlled variable voltage, a controller simulator including a plurality of electrical analogues of controller elements, said controller simulator being connected to the input and output of said process simulator to form a closed loop andsaid controller simulator including first electronic means responsive to said controlled variable voltage for establishing a controlled voltage deviation, second electronic means responsive to said controlled voltage deviation for establishing an am-" plified voltage proportional tosaid voltage deviation, third electronic means responsive through resistance and capacity to said amplified voltage for causing said amplified voltage to assume a rate of change proportional to said controlled voltage deviation and fourth electronic means responsive to said amplified voltagefor regulating the input current to said process simulator, disturbing means connected to said loop and adapted to impress on said loop an electrical disturbance having a predetermined pattern, and electrical indicatin means connected to said loop to indicate visually the efiect of said disturbance upon a predetermined pOrtiOn of said loop.

5. A process and controller analyzer comprising, in combination, a process simulator including a plurality of electrical capacities and resistances and having an input current and an output comprising a controlled variable voltage, a controller simulator connected to the output and input of said process simulator to form a closed loop, said controller simulator including est em first electronic means responsive to said con--' trolled variable voltage for establishing. a controlled voltage deviation, second electronic means responsiv to said controlled voltage deviation for establishing an amplified voltage proportional to said deviation, third electronic means responsive through resistance and capacity to said amplified voltage for changing the value of said amplified voltage by an amount proportional to the rate of change of said controlled voltage deviation and fourth electronic means responsive to said amplified voltage for regulating said input current to said simulator, disturbing means connected to said loop and adapted to impress on said 100p an electrical disturbance having a predetermined pattern, and electrical indicating means connected to said loop to indicate visual-a including first electronic means responsive to said controlled variable voltage for establishing a controlled voltage deviation, secondelectronic means responsive to said controlled voltage deviation for establishing an amplified voltage proportional to said voltage deviation, third electronic means responsive through resistance and capacity to said amplified voltage forcausing said amplified voltage to assume a rate of change proportional to said voltage deviation, fourthelec tronic means responsive through resistance and capacity to ,said amplified voltage to cause said.

amplified voltage to change by an amount pro portional to the rate of change of said voltage deviation, and fifth electronic means responsive to said amplified voltage for regulating the input current to said process simulator, disturbing means connected to said loop and adapted to, impress on said loop an electrical disturbance having a predetermined pattern, and electrical indicating means connected to said loop to indicate visually the efiect of saiddisturbance upon a predetermined portion of said loop.

G. 'A. PHILBRICK.

REFERENCES CITED The following references are of record in the file of this patent:

UNITED STATES PATENTS OTHER. REFERENCES Transactions of the A. I. E. Journal, February.

1946, pages 91-96.

Publication from the Massachusetts Institute of Technology, Serial No. 110, Hydraulic Analysis of. Water Distribution Systemsby Means of an Electric Network Analyzer, June, 1935. 

